# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0

# Root(body)
0 0.606697 0
0.998046 -0.062486 -0.000000 0.000226
0.240334 0.526567 0.684694
0.145682 0.097023 0.295787

# body_neck
0.954089 0.296140 -0.042446 0.014591
-0.011119 0.397953 -0.210232

# lHip
0.989341 -0.110849 0.092056 0.021060
4.204472 -0.067601 -1.303292

# rHip
0.993918 -0.009311 -0.059037 -0.092497
1.305622 1.402663 -0.193358

# lShoulder
0.997081 0.076355 0.000000 -0.000000
-0.109706 0.000005 -0.000001

# rShoulder
0.996073 0.088536 -0.000000 0.000000
0.270564 -0.000020 0.000004

# tail_1
0.994797 0.099753 0.020587 -0.002064
-0.844516 -0.260421 0.035019

# neck_head
0.985893 -0.166149 -0.019988 0.003126
0.288427 0.204407 -0.042248

# lKnee
0.870208 0.492685 -0.000000 0.000000
-5.263906 -0.000232 0.000079

# rKnee
0.845538 0.533915 -0.000001 -0.000001
-1.888689 0.000007 -0.000786

# lElbow
0.841073 -0.540922 -0.000000 -0.000000
2.853705 -0.000200 0.000073

# rElbow
0.822667 -0.568524 -0.000000 -0.000000
3.130097 -0.000222 0.000088

# tail_2
0.996676 0.079491 0.017789 -0.001419
-0.323789 -0.064607 0.011568

# lAnkle
0.777061 -0.629425 -0.000000 0.000000
-0.407285 -0.000003 0.000013

# rAnkle
0.863652 -0.504088 0.000001 0.000001
2.229963 0.000851 0.000407

# tail_3
0.999912 -0.002745 0.012974 0.000036
0.015968 0.037568 -0.000406

# lToeJoint
0.943021 0.332730 0.000369 0.001045
1.190858 0.002585 0.192589

# rToeJoint
0.996435 0.046401 0.003276 0.070375
-0.580483 -0.082947 -0.997864

# tail_4
0.999460 -0.031001 0.010851 0.000337
0.215873 0.087114 -0.004668

# tail_5
0.999577 -0.026846 0.011195 0.000301
0.399233 0.136519 -0.008907

# tail_6
0.999840 -0.016041 0.007939 0.000127
0.362355 0.111202 -0.005726

